8 ROS2 -Writing a simple publisher and subscriber (Python)
cs
ros2 pkg create --build-type ament_python py_pubsub
cd py_pubsub/py_pubsub/
wget https://raw.githubusercontent.com/ros2/examples/humble/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py
<exec_depend>rclpy</exec_depend>
<exec_depend>std_msgs</exec_depend>
entry_points={
'console_scripts': [
'talker = py_pubsub.publisher_member_function:main',
],
},
In the same terminal and run:
cs
cd py_pubsub/py_pubsub/
wget https://raw.githubusercontent.com/ros2/examples/humble/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py
entry_points={
'console_scripts': [
'talker = py_pubsub.publisher_member_function:main',
'listener = py_pubsub.subscriber_member_function:main',
],
},
ros2 run py_pubsub talker
ros2 run py_pubsub listener
Reference : https://docs.ros.org/en/humble/Installation.html